Integrated navigation and control software system for MRI-guided robotic prostate interventions

Junichi Tokuda, Gregory S. Fischer, Simon P. DiMaio, David G. Gobbi, Csaba Csoma, Philip W. Mewes, Gabor Fichtinger, Clare M. Tempany, Nobuhiko Hata

Research output: Contribution to journalArticlepeer-review

55 Scopus citations


A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified.

Original languageEnglish (US)
Pages (from-to)3-8
Number of pages6
JournalComputerized Medical Imaging and Graphics
Issue number1
StatePublished - Jan 2010
Externally publishedYes


  • Image-guided therapy
  • MRI-compatible robot
  • MRI-guided intervention
  • Prostate biopsy
  • Prostate brachytherapy
  • Surgical navigation

ASJC Scopus subject areas

  • Radiology Nuclear Medicine and imaging
  • Health Informatics
  • Radiological and Ultrasound Technology
  • Computer Graphics and Computer-Aided Design
  • Computer Vision and Pattern Recognition


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